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This March 11, 2013, file photo shows Britain's Prince Philip, the husband of Britain's Queen Elizabeth II, as he leaves after the Commonwealth Day Observance at Westminster Abbey in London.

Queen Elizabeth II's 97-year-old husband was recovering Friday at the royal Sandringham estate after the Land Rover he was driving rolled on a nearby highway in a collision with another vehicle.

Witness Roy Warne told the BBC he was driving home from work when the accident involving Prince Philip's black Land Rover and a compact car unfolded in front of him. Warne said he helped free a baby from the second car, a Kia, before helping the prince out of his vehicle, which was lying on its side.

"I saw a car, a black (Land) Rover, come out from a side road and it rolled and ended up on the other side of the road," Warne said. "I saw it careering, tumbling across the road and ending up on the other side."

Warne found Philip trapped in the car, but persuaded him to move one leg at a time to get out. He then pulled him out of the Land Rover through the windscreen or sun roof. The prince was able to immediately stand and walk around.

"He was obviously shaken, and then he went and asked if everyone else was all right," Warne said.

Police conducted breath tests on the drivers after the accident shortly before 3 p.m. Thursday. Both tested negatively.

The driver of the Kia, a 28-year-old woman, suffered cuts to her knee while her passenger, a 45-year-old woman, suffered a broken wrist. Both were taken to the hospital and sent home. A 9-month old baby in the Kia was not injured.

The prince was checked by a doctor after the accident and determined to be fine, Buckingham Palace said.

"We are aware of the public interest in this case, however, as with any other investigation it would be inappropriate to speculate on the causes of the collision until an investigation is carried out," Norfolk Constabulary said in a statement.

By coincidence, authorities in the area had planned to consider improving safety on the road, the A149. Norfolk County Council will discuss reducing the speed limit on the road from 60 mph to 50 mph and installing safety cameras.